Modelling Control and Cyber Threat Mitigation for Nonlinear Physical Systems in Real Time Operating System Environment

Abstract

Many and modern physical systems are in need of nonlinearitycontrol and network connectivity between them. The raise of security issues inNetwork control systems lead to the development of Cyber Physical systems.This research mainly focuses on investigating the control and cyber threatmitigation for nonlinear physical systems.The thesis investigates the modelling, control and practicalimplementation of nonlinear physical systems in both simulation and real-time. newlineIn this case, the two types of benchmark nonlinear robotic systems such asSegway transporter and cruise control system are considered as physicalsystems.The Segway vehicle has been considered as a physical system that isnonlinear and unstable. Equations of motions have been derived usingLagrangian dynamics by considering kinetic energy and potential energy. Then,the nonlinear differential equations have linearised using Taylor series expansion newlineof functions to acquire a state space model of the system and convert it into twotransfer functions that corresponds to tilt angle and yaw angle. These are thecontrol parameters to stabilise the Segway system. Effective simulation analysisof nonlinear control is made up with PID, GA Tuned PID and Model PredictiveController (MPC) by MATLAB. newline newline